## descriptive title for the tutorial
## title = How to use the recorder
## multi-line description to be displayed in search
## description = Tutorial for recording a scene with the recorder and creating the database for the trainer
## links to next tutorial (optional)
## next.0.link=[[asr_ism/tutorial_trainer|Training an ISM]] and
## next.1.link=[[asr_ism/tutorial_combinatorial_trainer|Training an ISM using the Combinatorial-Trainer]]
## what level user is this tutorial for
## level= BeginnerCategory
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<<TableOfContents(4)>>

== Setup ==
1. Make sure you have objects as input, e.g.: start a object detector  ([[asr_descriptor_surface_based_recognition]] etc.) and publish the objects on the topic you have  chose at the "objectTopic" parameter at capturing.yaml

2. Check if you have set the parameters right or use the default parameters.

3. Adapt the "dbfilename" parameter in sqlitedb.yaml. Choose a datapath  where you want save the recorded data and set a databasename (don't  forget the file extension). For example  /home/.../documents/database/test.sqlite If there isn't anything specified the results are going to be in /tmp/record.sqlite

4. Set up your scene. Place the objects you want to record at their provided places.

== Tutorial ==
1. Start the recorder:

{{{
roslaunch asr_ism recorder.launch
}}}
{{attachment:Recorder1.png||width="745",height="444"}}

2. Localize your robot in the room. (e.g. using [[amcl]])

3. Place your robot in front of your first objects so the objects are recognized.

{{attachment:Recorder6.jpg||width="386",height="506"}}

(3.1 Press "s" to show which objects are recognized.)

4. Press "a" in the recorder console. This added all recognized object  to the scene. And press "s" to check if all objects are marked.

Only marked objects will be recorded.

{{attachment:Recorder3.png||width="748",height="446"}}

5. Move your robot around and places it in front of the missing (not recognized) objects.

6. Press "a" again.

{{attachment:Recorder4.png||width="745",height="445"}}

7. Repeat this until all objects of the scene are recognized and in the "marked" class in the recorder.

8. If you marked all object, place your robot at the first position.

9. Press "space" and move the recognized object '''slowly''' some centimeters around (don't rotate them).

{{attachment:Recorder5.png||width="720",height="440"}}

{{attachment:Recorder8.png||width="520",height="280"}}

Do this for about one minute for each recognized object. If you have moved all objects at this place press "space" again.

10. Repeat this for all objects at all positions where your robot was  standing. Don't forget to deactivate the "Auto Processing" (start/end at  press "space" while you move your robot).

11. If you moved all object you can press "CRTL+C" to stop the program, all data is saved automatically in the database.

== Common mistakes ==
There could be an error:

[Error] [...]: Lookup would require extropolation ...

This is caused because your PC is too slow, but this isn't a problem. You can ignore this error.

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